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QCmpGPST.cpp
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#include "QCmpGPST.h"
QCmpGPST::QCmpGPST()
{
//WGS-84 coordinate parameters
elipsePara[0] = 6378137.0;
elipsePara[1] = 6356752.3142;
elipsePara[2] = 6399593.6258;
elipsePara[3] = 1/298.257223563;
elipsePara[4] = 0.00669437999014132;
elipsePara[5] = 0.00673949674227;
//Read erp data
//Initialize erp_t data
m_erpData.n = 0;
m_erpData.nmax = 10;
m_erpData.data = (erpd_t*)malloc(sizeof(erpd_t)*m_erpData.nmax);
isuseErp = false;
}
bool QCmpGPST::readRepFile(QString m_erpFileName)
{
if (!m_erpFileName.isEmpty())
{//First determine if the user is passing the erp path
isuseErp = readerp(m_erpFileName.toLatin1().data(),&m_erpData);
// erp file name
QFileInfo fileInfo(m_erpFileName);
QString erpName = fileInfo.fileName();
if(erpName.contains("gbm", Qt::CaseInsensitive)){
m_erpData.data->ut1_utc += 370;// 37s
}
}
else
{
isuseErp = false;
}
return true;
}
QCmpGPST::~QCmpGPST()
{
free(m_erpData.data);
}
//Calculate Julian Day
double QCmpGPST::computeJD(int Year,int Month,int Day,int HoursInt,int Minutes,double Seconds)
{
double Hours = HoursInt + ((Minutes * 60) + Seconds)/3600.0;
//Get JD
double JD = 0.0;
if(Month<=2)
JD = (int)(365.25*(Year-1)) + (int)(30.6001*(Month+12+1)) + Day + Hours/24.0 + 1720981.5;
else
JD = (int)(365.25*(Year)) + (int)(30.6001*(Month+1)) + Day + Hours/24.0 + 1720981.5;
return JD;
}
//Computational simplified Julian day
double QCmpGPST::computeMJD(int Year,int Month,int Day,int HoursInt,int Minutes,double Seconds)
{
double MJD = computeJD(Year,Month,Day,HoursInt,Minutes,Seconds) - 2400000.5;
return MJD;
}
//
double QCmpGPST::YMD2GPSTime(int Year,int Month,int Day,int HoursInt,int Minutes,double Seconds,int *WeekN, int *day)//,int *GPSTimeArray
{
double Hours = HoursInt + ((Minutes * 60) + Seconds)/3600.0;
//Get JD
double JD = 0.0;
if(Month<=2)
JD = (int)(365.25*(Year-1)) + (int)(30.6001*(Month+12+1)) + Day + Hours/24.0 + 1720981.5;
else
JD = (int)(365.25*(Year)) + (int)(30.6001*(Month+1)) + Day + Hours/24.0 + 1720981.5;
//Get GPS Week and Days
int Week = (int)((JD - 2444244.5) / 7);
int N =(int)(JD + 1.5)%7;
if (WeekN) *WeekN = Week;
if (day) *day = N;
return (N*24*3600 + HoursInt*3600 + Minutes*60 + Seconds);
}
void QCmpGPST::XYZ2BLH(double X,double Y,double Z,double *m_pBLH,double *ellipseCoeff)
{//
if (ellipseCoeff == NULL)
{//WGS84 coordinate system is used by default
ellipseCoeff = elipsePara;
}
if (X == 0)
return;
m_pBLH[1] = MyAtanL(X,Y);//L appears bug
//Compute B
if(X == 0&&Y == 0)
return;
double t0 = Z/qSqrt(X*X + Y*Y);
double P = (ellipseCoeff[2]*ellipseCoeff[4])/qSqrt(X*X + Y*Y);
double k = 1 + ellipseCoeff[5];
double eps = 1e-12;
double ti = t0;
double ti1 = 0;
double Bi = qAtan(ti);
double Bi1 = 0;
do
{
ti1 = t0 + P*ti/qSqrt(k + ti*ti);
Bi = qAtan(ti);
Bi1 = qAtan(ti1);
ti = ti1;
} while (qAbs(Bi1-Bi) > eps);
m_pBLH[0] = Bi1;
double W = qSqrt(1 - ellipseCoeff[4]*qSin(Bi1)*qSin(Bi1));
double N = ellipseCoeff[0]/W;
m_pBLH[2] = Z/qSin(Bi1) - N*(1 - ellipseCoeff[4]);
}
void QCmpGPST::XYZ2SAZ(double X,double Y,double Z,double *m_pSAZ,double *PX)
{
double dx = X - PX[0];
double dy = Y - PX[1];
double dz = Z - PX[2];
double PX_BLH[3] = {0};
XYZ2BLH(PX[0],PX[1],PX[2],PX_BLH,elipsePara);//Calculate L to appear bug
double B = PX_BLH[0];
double L = PX_BLH[1];
double xx = (-qSin(B)*qCos(L)*dx - qSin(B)*qSin(L)*dy + qCos(B)*dz);
double yy = (-qSin(L)*dx + qCos(L)*dy + 0*dz);
double zz = (qCos(B)*qCos(L)*dx + qCos(B)*qSin(L)*dy + qSin(B)*dz);
m_pSAZ[0] = qSqrt(xx*xx + yy*yy + zz*zz);//S
if (xx == 0)
return;
m_pSAZ[1] = MyAtanA(xx,yy);//A
if (m_pSAZ[0] == 0)
return;
m_pSAZ[2] = qAcos(qAbs(zz/m_pSAZ[0]));//Z(0,pi/2)appear bug
}
void QCmpGPST::XYZ2ENU(double X,double Y,double Z,double *m_pENU,double *PX)
{
double dx = X - PX[0];
double dy = Y - PX[1];
double dz = Z - PX[2];
double PX_BLH[3] = {0};
XYZ2BLH(PX[0],PX[1],PX[2],PX_BLH,elipsePara);//Calculate L to appear bug
double B = PX_BLH[0];
double L = PX_BLH[1];
m_pENU[0] = (-qSin(L)*dx + qCos(L)*dy);
m_pENU[1] = (-qSin(B)*qCos(L)*dx - qSin(B)*qSin(L)*dy + qCos(B)*dz);
m_pENU[2] = (qCos(B)*qCos(L)*dx + qCos(B)*qSin(L)*dy + qSin(B)*dz);
}
//XYZ ： Receiver approximate coordinates. m_SAZ（radian）Returned calculation result PX station coordinates
void QCmpGPST::XYZ2SAZ(double *pXYZ,double *m_pSAZ,double *PX)
{
XYZ2SAZ(pXYZ[0],pXYZ[1],pXYZ[2],m_pSAZ,PX);
}
void QCmpGPST::XYZ2BLH(double *pXYZ,double *m_pBLH)
{
XYZ2BLH(pXYZ[0],pXYZ[1],pXYZ[2],m_pBLH);
}
void QCmpGPST::XYZ2ENU(double *pXYZ,double *m_pENU,double *PX)
{
XYZ2ENU(pXYZ[0],pXYZ[1],pXYZ[2],m_pENU,PX);
}
double QCmpGPST::MyAtanA(double x,double y)
{
double angel = 0;
if (x > 0&&y>0)
{
angel = atan(y/x);
}
else if(x < 0&&y > 0)
{
angel = atan(y/x) + MM_PI;
}
else if (x < 0&&y < 0)
{
angel = atan(y/x) + MM_PI;
}
else
{
angel = atan(y/x) + 2*MM_PI;
}
return angel;
}
double QCmpGPST::MyAtanL(double x,double y)
{//Calculate the longitude according to (x, y) (radian means [-pi, pi])
double angel = 0;
if (x > 0&&y>0)
{
angel = atan(y/x);
}
else if(x < 0&&y > 0)
{
angel = atan(y/x) + MM_PI;
}
else if (x < 0&&y < 0)
{
angel = -(MM_PI - atan(y/x));
}
else
{
angel = atan(y/x);
}
return angel;
}
double QCmpGPST::InnerVector(double *a,double *b,int Vectorlen)
{
double resultAB = 0;
for(int i = 0;i < Vectorlen;i++)
resultAB+=a[i]*b[i];
return resultAB;
}
bool QCmpGPST::OutVector(double *a,double *b,double *c)
{
c[0]=a[1]*b[2]-a[2]*b[1];
c[1]=a[2]*b[0]-a[0]*b[2];
c[2]=a[0]*b[1]-a[1]*b[0];
return true;
}
// Leap file: ftp://hpiers.obspm.fr/iers/bul/bulc/Leap_Second.dat
double QCmpGPST::getLeapSecond(int Year, int Month, int Day, int Hours/* =0 */, int Minutes/* =0 */, double Seconds/* =0 */)
{// Debug by xiaogongwei 2019.04.03
double jd = computeJD(Year,Month,Day,Hours, Minutes, Seconds);
double leapseconds=0;
double Leap_seconds[50]={0};
double TAImUTCData[50]={0};
Leap_seconds[0]=10;
TAImUTCData[0]=computeJD(1972,1,1,0);
Leap_seconds[1]=11;
TAImUTCData[1]=computeJD(1972,7,1,0);
Leap_seconds[2]=12;
TAImUTCData[2]=computeJD(1973,1,1,0);
Leap_seconds[3]=13;
TAImUTCData[3]=computeJD(1974,1,1,0);
Leap_seconds[4]=14;
TAImUTCData[4]=computeJD(1975,1,1,0);
Leap_seconds[5]=15;
TAImUTCData[5]=computeJD(1976,1,1,0);
Leap_seconds[6]=16;
TAImUTCData[6]=computeJD(1977,1,1,0);
Leap_seconds[7]=17;
TAImUTCData[7]=computeJD(1978,1,1,0);
Leap_seconds[8]=18;
TAImUTCData[8]=computeJD(1979,1,1,0);
Leap_seconds[9]=19;
TAImUTCData[9]=computeJD(1980,1,1,0);
Leap_seconds[10]=20;
TAImUTCData[10]=computeJD(1981,7,1,0);
Leap_seconds[11]=21;
TAImUTCData[11]=computeJD(1982,7,1,0);
Leap_seconds[12]=22;
TAImUTCData[12]=computeJD(1983,7,1,0);
Leap_seconds[13]=23;
TAImUTCData[13]=computeJD(1985,7,1,0);
Leap_seconds[14]=24;
TAImUTCData[14]=computeJD(1988,1,1,0);
Leap_seconds[15]=25;
TAImUTCData[15]=computeJD(1990,1,1,0);
Leap_seconds[16]=26;
TAImUTCData[16]=computeJD(1991,1,1,0);
Leap_seconds[17]=27;
TAImUTCData[17]=computeJD(1992,7,1,0);
Leap_seconds[18]=28;
TAImUTCData[18]=computeJD(1993,7,1,0);
Leap_seconds[19]=29;
TAImUTCData[19]=computeJD(1994,7,1,0);
Leap_seconds[20]=30;
TAImUTCData[20]=computeJD(1996,1,1,0);
Leap_seconds[21]=31;
TAImUTCData[21]=computeJD(1997,7,1,0);
Leap_seconds[22]=32;
TAImUTCData[22]=computeJD(1999,1,1,0);
Leap_seconds[23]=33;
TAImUTCData[23]=computeJD(2006,1,1,0);
Leap_seconds[24]=34;
TAImUTCData[24]=computeJD(2009,1,1,0);
Leap_seconds[25]=35;
TAImUTCData[25]=computeJD(2012,7,1,0);
Leap_seconds[26]=36;
TAImUTCData[26]=computeJD(2015,7,1,0);
Leap_seconds[27]=37;
TAImUTCData[27]=computeJD(2017,1,1,0);
if (jd<TAImUTCData[0])
{
leapseconds=0;
}
else if (jd>TAImUTCData[27])
{
leapseconds=Leap_seconds[27];
}
else
{
int iter=0;
for (int i=1;i<28;i++)
{
if (jd<=TAImUTCData[i] && jd>TAImUTCData[i-1])
{
iter=i;
break;
}
}
leapseconds=Leap_seconds[iter-1];
}
return (leapseconds-19);
}
/* outer product of 3d vectors -------------------------------------------------
* outer product of 3d vectors
* args : double *a,*b I vector a,b (3 x 1)
* double *c O outer product (a x b) (3 x 1)
* return : none
*-----------------------------------------------------------------------------*/
void QCmpGPST::cross3(const double *a, const double *b, double *c)
{
c[0]=a[1]*b[2]-a[2]*b[1];
c[1]=a[2]*b[0]-a[0]*b[2];
c[2]=a[0]*b[1]-a[1]*b[0];
}
/* ecef to local coordinate transfromation matrix ------------------------------
* compute ecef to local coordinate transfromation matrix
* args : double *pos I geodetic position {lat,lon} (rad)
* double *E O ecef to local coord transformation matrix (3x3)
* return : none
* notes : matirix stored by column-major order (fortran convention)
*-----------------------------------------------------------------------------*/
void QCmpGPST::xyz2enu(const double *pos, double *E)
{
double sinp=sin(pos[0]),cosp=cos(pos[0]),sinl=sin(pos[1]),cosl=cos(pos[1]);
E[0]=-sinl; E[3]=cosl; E[6]=0.0;
E[1]=-sinp*cosl; E[4]=-sinp*sinl; E[7]=cosp;
E[2]=cosp*cosl; E[5]=cosp*sinl; E[8]=sinp;
}
/* euclid norm -----------------------------------------------------------------
* euclid norm of vector
* args : double *a I vector a (n x 1)
* int n I size of vector a
* return : || a ||
*-----------------------------------------------------------------------------*/
double QCmpGPST::norm(const double *a, int n)
{
return sqrt(dot(a,a,n));
}
/* normalize 3d vector ---------------------------------------------------------
* normalize 3d vector
* args : double *a I vector a (3 x 1)
* double *b O normlized vector (3 x 1) || b || = 1
* return : status (1:ok,0:error)
*-----------------------------------------------------------------------------*/
int QCmpGPST::normv3(const double *a, double *b)
{
double r;
if ((r=norm(a,3))<=0.0) return 0;
b[0]=a[0]/r;
b[1]=a[1]/r;
b[2]=a[2]/r;
return 1;
}
int QCmpGPST::getSatPRN(QString StaliteName)
{
int PRN = -1;
if(StaliteName.contains("G",Qt::CaseInsensitive))
PRN = StaliteName.right(2).toInt();
else if (StaliteName.contains("C",Qt::CaseInsensitive))
PRN = StaliteName.right(2).toInt() + 100;//北斗PRN=100+RRN
else if (StaliteName.contains("R",Qt::CaseInsensitive))
PRN = StaliteName.right(2).toInt() + 200;//GLONASS PRN=200+RRN
return PRN;
}
//Calculate the annual accumulation date
int QCmpGPST::YearAccDay(int Year, int Month, int Day)
{
//int YearDay = qFloor(Month*275/9) - qFloor((Month+9)/12) * ((qFloor(qCos(Year%100*0.01)) * (Year/100-qFloor(Year/400)*4)+2)/3)+1+Day-30;
if(Month == 2 &&(Day <0 || Day > 29))
return -1;
if (Month < 1||Month > 12)
return -1;
if(Day< 1 || Day > 31)
return -1;
int YearDay = 0;
int YearArray[12] = {31,28,31,30,31,30,31,31,30,31,30,31};
if((Year%4==0 && Year%100!=0) || Year%400==0)
YearArray[1]++;
for(int i = 0;i < Month-1;i++)
{
YearDay+=YearArray[i];
}
YearDay+=Day;
return YearDay;
}
//The following reference RTKLAB to obtain the sun coordinates
/* get earth rotation parameter values -----------------------------------------
* get earth rotation parameter values
* args : erp_t *erp I earth rotation parameters
* gtime_t time I time (gpst)
* double *erpv O erp values {xp,yp,ut1_utc,lod} (rad,rad,s,s/d)
* return : status (1:ok,0:error)
*-----------------------------------------------------------------------------*/
int QCmpGPST::geterp(const erp_t *erp, gtime_t time, double *erpv)
{
const double ep[]={2000,1,1,12,0,0};
double mjd,day,a;
int i=0,j,k;
//trace(4,"geterp:\n");
if (erp->n<=0) return 0;
mjd=51544.5+(timediff(gpst2utc(time),epoch2time(ep)))/86400.0;
if (mjd<=erp->data[0].mjd) {
day=mjd-erp->data[0].mjd;
erpv[0]=erp->data[0].xp +erp->data[0].xpr*day;
erpv[1]=erp->data[0].yp +erp->data[0].xpr*day;
erpv[2]=erp->data[0].ut1_utc-erp->data[0].lod*day;
erpv[3]=erp->data[0].lod;
return 1;
}
if (mjd>=erp->data[erp->n-1].mjd) {
day=mjd-erp->data[erp->n-1].mjd;
erpv[0]=erp->data[erp->n-1].xp +erp->data[erp->n-1].xpr*day;
erpv[1]=erp->data[erp->n-1].yp +erp->data[erp->n-1].ypr*day;
erpv[2]=erp->data[erp->n-1].ut1_utc-erp->data[erp->n-1].lod*day;
erpv[3]=erp->data[erp->n-1].lod;
return 1;
}
for (j=0,k=erp->n-1;j<=k;) {
i=(j+k)/2;
if (mjd<erp->data[i].mjd) k=i-1; else j=i+1;
}
//If crossing the border
if (i >= erp->n - 1)
i--;
if (erp->data[i].mjd==mjd-erp->data[i+1].mjd) {
a=0.5;
}
else {
//a=(mjd-erp->data[i+1].mjd)/(erp->data[i].mjd-mjd-erp->data[i+1].mjd);
a = (mjd - erp->data[i].mjd)/(erp->data[i+1].mjd - erp->data[i].mjd);
}
erpv[0]=(1.0-a)*erp->data[i].xp +a*erp->data[i+1].xp;
erpv[1]=(1.0-a)*erp->data[i].yp +a*erp->data[i+1].yp;
erpv[2]=(1.0-a)*erp->data[i].ut1_utc+a*erp->data[i+1].ut1_utc;
erpv[3]=(1.0-a)*erp->data[i].lod +a*erp->data[i+1].lod;
return 1;
}
/* read earth rotation parameters ----------------------------------------------
* read earth rotation parameters
* args : char *file I IGS ERP file (IGS ERP ver.2)
* erp_t *erp O earth rotation parameters
* return : status (1:ok,0:file open error)
*-----------------------------------------------------------------------------*/
int QCmpGPST::readerp(const char *file, erp_t *erp)
{
FILE *fp;
erpd_t *erp_data;
double v[14]={0};
char buff[256];
//trace(3,"readerp: file=%s\n",file);
if (!(fp=fopen(file,"r"))) {
//trace(2,"erp file open error: file=%s\n",file);
return 0;
}
while (fgets(buff,sizeof(buff),fp)) {
if (sscanf(buff,"%lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf",
v,v+1,v+2,v+3,v+4,v+5,v+6,v+7,v+8,v+9,v+10,v+11,v+12,v+13)<5) {
continue;
}
if (erp->n>=erp->nmax) {
erp->nmax=erp->nmax<=0?128:erp->nmax*2;
erp_data=(erpd_t *)realloc(erp->data,sizeof(erpd_t)*erp->nmax);
if (!erp_data) {
free(erp->data); erp->data=NULL; erp->n=erp->nmax=0;
fclose(fp);
return 0;
}
erp->data=erp_data;
}
erp->data[erp->n].mjd=v[0];
erp->data[erp->n].xp=v[1]*1E-6*AS2R;
erp->data[erp->n].yp=v[2]*1E-6*AS2R;
erp->data[erp->n].ut1_utc=v[3]*1E-6;
erp->data[erp->n].lod=v[4]*1E-6;
erp->data[erp->n].xpr=v[12]*1E-6*AS2R;
erp->data[erp->n++].ypr=v[13]*1E-6*AS2R;
}
fclose(fp);
return 1;
}
//Reference RTKlab
/* add time --------------------------------------------------------------------
* add time to gtime_t struct
* args : gtime_t t I gtime_t struct
* double sec I time to add (s)
* return : gtime_t struct (t+sec)
*-----------------------------------------------------------------------------*/
gtime_t QCmpGPST::timeadd(gtime_t t, double sec)
{
double tt;
t.sec+=sec; tt=floor(t.sec); t.time+=(int)tt; t.sec-=tt;
return t;
}
/* time difference -------------------------------------------------------------
* difference between gtime_t structs
* args : gtime_t t1,t2 I gtime_t structs
* return : time difference (t1-t2) (s)
*-----------------------------------------------------------------------------*/
double QCmpGPST::timediff(gtime_t t1, gtime_t t2)
{
double temp = difftime(t1.time,t2.time);
return difftime(t1.time,t2.time)+t1.sec-t2.sec;
}
//double ep = {1970,1,1,0,0,0}Convert to gtime_t;
gtime_t QCmpGPST::epoch2time(const double *ep)
{
const int doy[]={1,32,60,91,121,152,182,213,244,274,305,335};
gtime_t time={0};
int days,sec,year=(int)ep[0],mon=(int)ep[1],day=(int)ep[2];
if (year<1970||2099<year||mon<1||12<mon) return time;
/* leap year if year%4==0 in 1901-2099 */
days=(year-1970)*365+(year-1969)/4+doy[mon-1]+day-2+(year%4==0&&mon>=3?1:0);
sec=(int)floor(ep[5]);
time.time=(time_t)days*86400+(int)ep[3]*3600+(int)ep[4]*60+sec;
time.sec=ep[5]-sec;
return time;
}
/* utc to gpstime --------------------------------------------------------------
* convert utc to gpstime considering leap seconds
* args : gtime_t t I time expressed in utc
* return : time expressed in gpstime
* notes : ignore slight time offset under 100 ns
*-----------------------------------------------------------------------------*/
gtime_t QCmpGPST::utc2gpst(gtime_t t)
{
int i;
for (i=0;i<(int)sizeof(leaps)/(int)sizeof(*leaps);i++) {
if (timediff(t,epoch2time(leaps[i]))>=0.0) return timeadd(t,-leaps[i][6]);
}
return t;
}
/* time to calendar day/time ---------------------------------------------------
* convert gtime_t struct to calendar day/time
* args : gtime_t t I gtime_t struct
* double *ep O day/time {year,month,day,hour,min,sec}
* return : none
* notes : proper in 1970-2037 or 1970-2099 (64bit time_t)
*-----------------------------------------------------------------------------*/
void QCmpGPST::time2epoch(gtime_t t, double *ep)
{
const int mday[]={ /* # of days in a month */
31,28,31,30,31,30,31,31,30,31,30,31,31,28,31,30,31,30,31,31,30,31,30,31,
31,29,31,30,31,30,31,31,30,31,30,31,31,28,31,30,31,30,31,31,30,31,30,31
};
int days,sec,mon,day;
/* leap year if year%4==0 in 1901-2099 */
days=(int)(t.time/86400);
sec=(int)(t.time-(time_t)days*86400);
for (day=days%1461,mon=0;mon<48;mon++) {
if (day>=mday[mon]) day-=mday[mon]; else break;
}
ep[0]=1970+days/1461*4+mon/12; ep[1]=mon%12+1; ep[2]=day+1;
ep[3]=sec/3600; ep[4]=sec%3600/60; ep[5]=sec%60+t.sec;
}
/* time to gps time ------------------------------------------------------------
* convert gtime_t struct to week and tow in gps time
* args : gtime_t t I gtime_t struct
* int *week IO week number in gps time (NULL: no output)
* return : time of week in gps time (s)
*-----------------------------------------------------------------------------*/
double QCmpGPST::time2gpst(gtime_t t, int *week)
{
gtime_t t0=epoch2time(gpst0);
time_t sec=t.time-t0.time;
int w=(int)(sec/(86400*7));
if (week) *week=w;
return (double)(sec-w*86400*7)+t.sec;
}
gtime_t QCmpGPST::gpst2time(int week, double sec)
{
gtime_t t=epoch2time(gpst0);
if (sec<-1E9||1E9<sec) sec=0.0;
t.time+=86400*7*week+(int)sec;
t.sec=sec-(int)sec;
return t;
}
/* time to day and sec -------------------------------------------------------*/
double QCmpGPST::time2sec(gtime_t time, gtime_t *day)
{
double ep[6],sec;
time2epoch(time,ep);
sec=ep[3]*3600.0+ep[4]*60.0+ep[5];
ep[3]=ep[4]=ep[5]=0.0;
*day=epoch2time(ep);
return sec;
}
/* utc to gmst -----------------------------------------------------------------
* convert utc to gmst (Greenwich mean sidereal time)
* args : gtime_t t I time expressed in utc
* double ut1_utc I UT1-UTC (s)
* return : gmst (rad)
*-----------------------------------------------------------------------------*/
double QCmpGPST::utc2gmst(gtime_t t, double ut1_utc)
{
const double ep2000[]={2000,1,1,12,0,0};
gtime_t tut,tut0;
double ut,t1,t2,t3,gmst0,gmst;
tut=timeadd(t,ut1_utc);
ut=time2sec(tut,&tut0);
t1=timediff(tut0,epoch2time(ep2000))/86400.0/36525.0;
t2=t1*t1; t3=t2*t1;
gmst0=24110.54841+8640184.812866*t1+0.093104*t2-6.2E-6*t3;
gmst=gmst0+1.002737909350795*ut;
return fmod(gmst,86400.0)*MM_PI/43200.0; /* 0 <= gmst <= 2*MM_PI */
}
/* gpstime to utc --------------------------------------------------------------
* convert gpstime to utc considering leap seconds
* args : gtime_t t I time expressed in gpstime
* return : time expressed in utc
* notes : ignore slight time offset under 100 ns
*-----------------------------------------------------------------------------*/
gtime_t QCmpGPST::gpst2utc(gtime_t t)
{
gtime_t tu;
int i;
for (i=0;i<(int)sizeof(leaps)/(int)sizeof(*leaps);i++) {
tu=timeadd(t,leaps[i][6]);
if (timediff(tu,epoch2time(leaps[i]))>=0.0) return tu;
}
return t;
}
/* inner product ---------------------------------------------------------------
* inner product of vectors
* args : double *a,*b I vector a,b (n x 1)
* int n I size of vector a,b
* return : a'*b
*-----------------------------------------------------------------------------*/
double QCmpGPST::dot(const double *a, const double *b, int n)
{
double c=0.0;
while (--n>=0) c+=a[n]*b[n];
return c;
}
/* astronomical arguments: f={l,l',F,D,OMG} (rad) ----------------------------*/
void QCmpGPST::ast_args(double t, double *f)
{
static const double fc[][5]={ /* coefficients for iau 1980 nutation */
{ 134.96340251, 1717915923.2178, 31.8792, 0.051635, -0.00024470},
{ 357.52910918, 129596581.0481, -0.5532, 0.000136, -0.00001149},
{ 93.27209062, 1739527262.8478, -12.7512, -0.001037, 0.00000417},
{ 297.85019547, 1602961601.2090, -6.3706, 0.006593, -0.00003169},
{ 125.04455501, -6962890.2665, 7.4722, 0.007702 -0.00005939}
};
double tt[4];
int i,j;
for (tt[0]=t,i=1;i<4;i++) tt[i]=tt[i-1]*t;
for (i=0;i<5;i++) {
f[i]=fc[i][0]*3600.0;
for (j=0;j<4;j++) f[i]+=fc[i][j+1]*tt[j];
f[i]=fmod(f[i]*AS2R,2.0*MM_PI);
}
}
void QCmpGPST::matmul(const char *tr, int n, int k, int m, double alpha,
const double *A, const double *B, double beta, double *C)
{
double d;
int i,j,x,f=tr[0]=='N'?(tr[1]=='N'?1:2):(tr[1]=='N'?3:4);
for (i=0;i<n;i++) for (j=0;j<k;j++) {
d=0.0;
switch (f) {
case 1: for (x=0;x<m;x++) d+=A[i+x*n]*B[x+j*m]; break;
case 2: for (x=0;x<m;x++) d+=A[i+x*n]*B[j+x*k]; break;
case 3: for (x=0;x<m;x++) d+=A[x+i*m]*B[x+j*m]; break;
case 4: for (x=0;x<m;x++) d+=A[x+i*m]*B[j+x*k]; break;
}
if (beta==0.0) C[i+j*n]=alpha*d; else C[i+j*n]=alpha*d+beta*C[i+j*n];
}
}
/* sun and moon position in eci (ref [4] 5.1.1, 5.2.1) -----------------------*/
void QCmpGPST::sunmoonpos_eci(gtime_t tut, double *rsun, double *rmoon)
{
const double ep2000[6]={2000,1,1,12,0,0};
double t = 0.0,f[5]={0.0},eps = 0.0,Ms = 0.0,ls = 0.0,rs = 0.0,lm = 0.0,
pm = 0.0,rm = 0.0,sine = 0.0,cose = 0.0,sinp = 0.0,cosp = 0.0,sinl = 0.0,cosl = 0.0;
//trace(3,"sunmoonpos_eci: tut=%s\n",time_str(tut,3));
t=timediff(tut,epoch2time(ep2000))/86400.0/36525.0;
/* astronomical arguments */
ast_args(t,f);
/* obliquity of the ecliptic */
eps=23.439291-0.0130042*t;
sine=sin(eps*D2R); cose=cos(eps*D2R);
/* sun position in eci */
if (rsun) {
Ms=357.5277233+35999.05034*t;
ls=280.460+36000.770*t+1.914666471*sin(Ms*D2R)+0.019994643*sin(2.0*Ms*D2R);
rs=AU*(1.000140612-0.016708617*cos(Ms*D2R)-0.000139589*cos(2.0*Ms*D2R));
sinl=sin(ls*D2R); cosl=cos(ls*D2R);
rsun[0]=rs*cosl;
rsun[1]=rs*cose*sinl;
rsun[2]=rs*sine*sinl;
//trace(5,"rsun =%.3f %.3f %.3f\n",rsun[0],rsun[1],rsun[2]);
}
/* moon position in eci */
if (rmoon) {
lm=218.32+481267.883*t+6.29*sin(f[0])-1.27*sin(f[0]-2.0*f[3])+
0.66*sin(2.0*f[3])+0.21*sin(2.0*f[0])-0.19*sin(f[1])-0.11*sin(2.0*f[2]);
pm=5.13*sin(f[2])+0.28*sin(f[0]+f[2])-0.28*sin(f[2]-f[0])-
0.17*sin(f[2]-2.0*f[3]);
rm=RE_WGS84/sin((0.9508+0.0518*cos(f[0])+0.0095*cos(f[0]-2.0*f[3])+
0.0078*cos(2.0*f[3])+0.0028*cos(2.0*f[0]))*D2R);
sinl=sin(lm*D2R);
cosl=cos(lm*D2R);
sinp=sin(pm*D2R);
cosp=cos(pm*D2R);
rmoon[0]=rm*cosp*cosl;
rmoon[1]=rm*cose*cosp*sinl - rm*sine*sinp;//rmoon[1]=rm*(cose*cosp*sinl - sine*sinp); release Optimized under mode (fastest speed)
rmoon[2]=rm*sine*cosp*sinl + rm*cose*sinp;//rmoon[2]=rm*(sine*cosp*sinl + cose*sinp);release Optimized under mode (fastest speed)
//trace(5,"rmoon=%.3f %.3f %.3f\n",rmoon[0],rmoon[1],rmoon[2]);
}
return ;
}
/* transform ecef to geodetic postion ------------------------------------------
* transform ecef position to geodetic position
* args : double *r I ecef position {x,y,z} (m)
* double *pos O geodetic position {lat,lon,h} (rad,m)
* return : none
* notes : WGS84, ellipsoidal height
*-----------------------------------------------------------------------------*/
void QCmpGPST::ecef2pos(const double *r, double *pos)
{
double e2=FE_WGS84*(2.0-FE_WGS84),r2=dot(r,r,2),z,zk,v=RE_WGS84,sinp;
for (z=r[2],zk=0.0;fabs(z-zk)>=1E-4;) {
zk=z;
sinp=z/sqrt(r2+z*z);
v=RE_WGS84/sqrt(1.0-e2*sinp*sinp);
z=r[2]+v*e2*sinp;
}
pos[0]=r2>1E-12?atan(z/sqrt(r2)):(r[2]>0.0?MM_PI/2.0:-MM_PI/2.0);
pos[1]=r2>1E-12?atan2(r[1],r[0]):0.0;
pos[2]=sqrt(r2+z*z)-v;
}
/* iau 1980 nutation ---------------------------------------------------------*/
void QCmpGPST::nut_iau1980(double t, const double *f, double *dpsi, double *deps)
{
static const double nut[106][10]={
{ 0, 0, 0, 0, 1, -6798.4, -171996, -174.2, 92025, 8.9},
{ 0, 0, 2, -2, 2, 182.6, -13187, -1.6, 5736, -3.1},
{ 0, 0, 2, 0, 2, 13.7, -2274, -0.2, 977, -0.5},
{ 0, 0, 0, 0, 2, -3399.2, 2062, 0.2, -895, 0.5},
{ 0, -1, 0, 0, 0, -365.3, -1426, 3.4, 54, -0.1},
{ 1, 0, 0, 0, 0, 27.6, 712, 0.1, -7, 0.0},
{ 0, 1, 2, -2, 2, 121.7, -517, 1.2, 224, -0.6},
{ 0, 0, 2, 0, 1, 13.6, -386, -0.4, 200, 0.0},
{ 1, 0, 2, 0, 2, 9.1, -301, 0.0, 129, -0.1},
{ 0, -1, 2, -2, 2, 365.2, 217, -0.5, -95, 0.3},
{ -1, 0, 0, 2, 0, 31.8, 158, 0.0, -1, 0.0},
{ 0, 0, 2, -2, 1, 177.8, 129, 0.1, -70, 0.0},
{ -1, 0, 2, 0, 2, 27.1, 123, 0.0, -53, 0.0},
{ 1, 0, 0, 0, 1, 27.7, 63, 0.1, -33, 0.0},
{ 0, 0, 0, 2, 0, 14.8, 63, 0.0, -2, 0.0},
{ -1, 0, 2, 2, 2, 9.6, -59, 0.0, 26, 0.0},
{ -1, 0, 0, 0, 1, -27.4, -58, -0.1, 32, 0.0},
{ 1, 0, 2, 0, 1, 9.1, -51, 0.0, 27, 0.0},
{ -2, 0, 0, 2, 0, -205.9, -48, 0.0, 1, 0.0},
{ -2, 0, 2, 0, 1, 1305.5, 46, 0.0, -24, 0.0},
{ 0, 0, 2, 2, 2, 7.1, -38, 0.0, 16, 0.0},
{ 2, 0, 2, 0, 2, 6.9, -31, 0.0, 13, 0.0},
{ 2, 0, 0, 0, 0, 13.8, 29, 0.0, -1, 0.0},
{ 1, 0, 2, -2, 2, 23.9, 29, 0.0, -12, 0.0},
{ 0, 0, 2, 0, 0, 13.6, 26, 0.0, -1, 0.0},
{ 0, 0, 2, -2, 0, 173.3, -22, 0.0, 0, 0.0},
{ -1, 0, 2, 0, 1, 27.0, 21, 0.0, -10, 0.0},
{ 0, 2, 0, 0, 0, 182.6, 17, -0.1, 0, 0.0},
{ 0, 2, 2, -2, 2, 91.3, -16, 0.1, 7, 0.0},
{ -1, 0, 0, 2, 1, 32.0, 16, 0.0, -8, 0.0},
{ 0, 1, 0, 0, 1, 386.0, -15, 0.0, 9, 0.0},
{ 1, 0, 0, -2, 1, -31.7, -13, 0.0, 7, 0.0},
{ 0, -1, 0, 0, 1, -346.6, -12, 0.0, 6, 0.0},
{ 2, 0, -2, 0, 0, -1095.2, 11, 0.0, 0, 0.0},
{ -1, 0, 2, 2, 1, 9.5, -10, 0.0, 5, 0.0},
{ 1, 0, 2, 2, 2, 5.6, -8, 0.0, 3, 0.0},
{ 0, -1, 2, 0, 2, 14.2, -7, 0.0, 3, 0.0},
{ 0, 0, 2, 2, 1, 7.1, -7, 0.0, 3, 0.0},
{ 1, 1, 0, -2, 0, -34.8, -7, 0.0, 0, 0.0},
{ 0, 1, 2, 0, 2, 13.2, 7, 0.0, -3, 0.0},
{ -2, 0, 0, 2, 1, -199.8, -6, 0.0, 3, 0.0},
{ 0, 0, 0, 2, 1, 14.8, -6, 0.0, 3, 0.0},
{ 2, 0, 2, -2, 2, 12.8, 6, 0.0, -3, 0.0},
{ 1, 0, 0, 2, 0, 9.6, 6, 0.0, 0, 0.0},
{ 1, 0, 2, -2, 1, 23.9, 6, 0.0, -3, 0.0},
{ 0, 0, 0, -2, 1, -14.7, -5, 0.0, 3, 0.0},
{ 0, -1, 2, -2, 1, 346.6, -5, 0.0, 3, 0.0},
{ 2, 0, 2, 0, 1, 6.9, -5, 0.0, 3, 0.0},
{ 1, -1, 0, 0, 0, 29.8, 5, 0.0, 0, 0.0},
{ 1, 0, 0, -1, 0, 411.8, -4, 0.0, 0, 0.0},
{ 0, 0, 0, 1, 0, 29.5, -4, 0.0, 0, 0.0},
{ 0, 1, 0, -2, 0, -15.4, -4, 0.0, 0, 0.0},
{ 1, 0, -2, 0, 0, -26.9, 4, 0.0, 0, 0.0},
{ 2, 0, 0, -2, 1, 212.3, 4, 0.0, -2, 0.0},
{ 0, 1, 2, -2, 1, 119.6, 4, 0.0, -2, 0.0},
{ 1, 1, 0, 0, 0, 25.6, -3, 0.0, 0, 0.0},
{ 1, -1, 0, -1, 0, -3232.9, -3, 0.0, 0, 0.0},
{ -1, -1, 2, 2, 2, 9.8, -3, 0.0, 1, 0.0},
{ 0, -1, 2, 2, 2, 7.2, -3, 0.0, 1, 0.0},
{ 1, -1, 2, 0, 2, 9.4, -3, 0.0, 1, 0.0},
{ 3, 0, 2, 0, 2, 5.5, -3, 0.0, 1, 0.0},
{ -2, 0, 2, 0, 2, 1615.7, -3, 0.0, 1, 0.0},
{ 1, 0, 2, 0, 0, 9.1, 3, 0.0, 0, 0.0},
{ -1, 0, 2, 4, 2, 5.8, -2, 0.0, 1, 0.0},
{ 1, 0, 0, 0, 2, 27.8, -2, 0.0, 1, 0.0},
{ -1, 0, 2, -2, 1, -32.6, -2, 0.0, 1, 0.0},
{ 0, -2, 2, -2, 1, 6786.3, -2, 0.0, 1, 0.0},
{ -2, 0, 0, 0, 1, -13.7, -2, 0.0, 1, 0.0},
{ 2, 0, 0, 0, 1, 13.8, 2, 0.0, -1, 0.0},
{ 3, 0, 0, 0, 0, 9.2, 2, 0.0, 0, 0.0},
{ 1, 1, 2, 0, 2, 8.9, 2, 0.0, -1, 0.0},
{ 0, 0, 2, 1, 2, 9.3, 2, 0.0, -1, 0.0},
{ 1, 0, 0, 2, 1, 9.6, -1, 0.0, 0, 0.0},
{ 1, 0, 2, 2, 1, 5.6, -1, 0.0, 1, 0.0},
{ 1, 1, 0, -2, 1, -34.7, -1, 0.0, 0, 0.0},
{ 0, 1, 0, 2, 0, 14.2, -1, 0.0, 0, 0.0},
{ 0, 1, 2, -2, 0, 117.5, -1, 0.0, 0, 0.0},
{ 0, 1, -2, 2, 0, -329.8, -1, 0.0, 0, 0.0},
{ 1, 0, -2, 2, 0, 23.8, -1, 0.0, 0, 0.0},
{ 1, 0, -2, -2, 0, -9.5, -1, 0.0, 0, 0.0},
{ 1, 0, 2, -2, 0, 32.8, -1, 0.0, 0, 0.0},
{ 1, 0, 0, -4, 0, -10.1, -1, 0.0, 0, 0.0},
{ 2, 0, 0, -4, 0, -15.9, -1, 0.0, 0, 0.0},
{ 0, 0, 2, 4, 2, 4.8, -1, 0.0, 0, 0.0},
{ 0, 0, 2, -1, 2, 25.4, -1, 0.0, 0, 0.0},
{ -2, 0, 2, 4, 2, 7.3, -1, 0.0, 1, 0.0},
{ 2, 0, 2, 2, 2, 4.7, -1, 0.0, 0, 0.0},
{ 0, -1, 2, 0, 1, 14.2, -1, 0.0, 0, 0.0},
{ 0, 0, -2, 0, 1, -13.6, -1, 0.0, 0, 0.0},
{ 0, 0, 4, -2, 2, 12.7, 1, 0.0, 0, 0.0},
{ 0, 1, 0, 0, 2, 409.2, 1, 0.0, 0, 0.0},
{ 1, 1, 2, -2, 2, 22.5, 1, 0.0, -1, 0.0},
{ 3, 0, 2, -2, 2, 8.7, 1, 0.0, 0, 0.0},
{ -2, 0, 2, 2, 2, 14.6, 1, 0.0, -1, 0.0},
{ -1, 0, 0, 0, 2, -27.3, 1, 0.0, -1, 0.0},
{ 0, 0, -2, 2, 1, -169.0, 1, 0.0, 0, 0.0},
{ 0, 1, 2, 0, 1, 13.1, 1, 0.0, 0, 0.0},
{ -1, 0, 4, 0, 2, 9.1, 1, 0.0, 0, 0.0},
{ 2, 1, 0, -2, 0, 131.7, 1, 0.0, 0, 0.0},
{ 2, 0, 0, 2, 0, 7.1, 1, 0.0, 0, 0.0},
{ 2, 0, 2, -2, 1, 12.8, 1, 0.0, -1, 0.0},
{ 2, 0, -2, 0, 1, -943.2, 1, 0.0, 0, 0.0},
{ 1, -1, 0, -2, 0, -29.3, 1, 0.0, 0, 0.0},
{ -1, 0, 0, 1, 1, -388.3, 1, 0.0, 0, 0.0},
{ -1, -1, 0, 2, 1, 35.0, 1, 0.0, 0, 0.0},
{ 0, 1, 0, 1, 0, 27.3, 1, 0.0, 0, 0.0}
};
double ang;
int i,j;
*dpsi=*deps=0.0;
for (i=0;i<106;i++) {
ang=0.0;
for (j=0;j<5;j++) ang+=nut[i][j]*f[j];
*dpsi+=(nut[i][6]+nut[i][7]*t)*sin(ang);
*deps+=(nut[i][8]+nut[i][9]*t)*cos(ang);
}
*dpsi*=1E-4*AS2R; /* 0.1 mas -> rad */
*deps*=1E-4*AS2R;
}
/* eci to ecef transformation matrix -------------------------------------------
* compute eci to ecef transformation matrix
* args : gtime_t tutc I time in utc
* double *erpv I erp values {xp,yp,ut1_utc,lod} (rad,rad,s,s/d)
* double *U O eci to ecef transformation matrix (3 x 3)
* double *gmst IO greenwich mean sidereal time (rad)
* (NULL: no output)
* return : none
* note : see ref [3] chap 5
* not thread-safe
*-----------------------------------------------------------------------------*/
void QCmpGPST::eci2ecef(gtime_t tutc, const double *erpv, double *U, double *gmst)
{
const double ep2000[]={2000,1,1,12,0,0};
static gtime_t tutc_;
static double U_[9],gmst_;
gtime_t tgps;
double eps,ze,th,z,t,t2,t3,dpsi,deps,gast,f[5];
double R1[9],R2[9],R3[9],R[9],W[9],N[9],P[9],NP[9];
int i;
//trace(3,"eci2ecef: tutc=%s\n",time_str(tutc,3));
if (fabs(timediff(tutc,tutc_))<0.01) { /* read cache */
for (i=0;i<9;i++) U[i]=U_[i];
if (gmst) *gmst=gmst_;
return;
}
tutc_=tutc;
/* terrestrial time */
tgps=utc2gpst(tutc_);
t=(timediff(tgps,epoch2time(ep2000))+19.0+32.184)/86400.0/36525.0;
t2=t*t; t3=t2*t;
/* astronomical arguments */
ast_args(t,f);
/* iau 1976 precession */
ze=(2306.2181*t+0.30188*t2+0.017998*t3)*AS2R;
th=(2004.3109*t-0.42665*t2-0.041833*t3)*AS2R;
z =(2306.2181*t+1.09468*t2+0.018203*t3)*AS2R;
eps=(84381.448-46.8150*t-0.00059*t2+0.001813*t3)*AS2R;
myRz(-z,R1); myRy(th,R2); myRz(-ze,R3);
matmul("NN",3,3,3,1.0,R1,R2,0.0,R);
matmul("NN",3,3,3,1.0,R, R3,0.0,P); /* P=Rz(-z)*Ry(th)*Rz(-ze) */
/* iau 1980 nutation */
nut_iau1980(t,f,&dpsi,&deps);
myRx(-eps-deps,R1); myRz(-dpsi,R2); myRx(eps,R3);
matmul("NN",3,3,3,1.0,R1,R2,0.0,R);
matmul("NN",3,3,3,1.0,R ,R3,0.0,N); /* N=Rx(-eps)*Rz(-dspi)*Rx(eps) */
/* greenwich aparent sidereal time (rad) */
gmst_=utc2gmst(tutc_,erpv[2]);
gast=gmst_+dpsi*cos(eps);
gast+=(0.00264*sin(f[4])+0.000063*sin(2.0*f[4]))*AS2R;
/* eci to ecef transformation matrix */
myRy(-erpv[0],R1); myRx(-erpv[1],R2); myRz(gast,R3);
matmul("NN",3,3,3,1.0,R1,R2,0.0,W );
matmul("NN",3,3,3,1.0,W ,R3,0.0,R ); /* W=Ry(-xp)*Rx(-yp) */
matmul("NN",3,3,3,1.0,N ,P ,0.0,NP);
matmul("NN",3,3,3,1.0,R ,NP,0.0,U_); /* U=W*Rz(gast)*N*P */
for (i=0;i<9;i++) U[i]=U_[i];
if (gmst) *gmst=gmst_;
//trace(5,"gmst=%.12f gast=%.12f\n",gmst_,gast);
//trace(5,"P=\n"); tracemat(5,P,3,3,15,12);
//trace(5,"N=\n"); tracemat(5,N,3,3,15,12);
//trace(5,"W=\n"); tracemat(5,W,3,3,15,12);
//trace(5,"U=\n"); tracemat(5,U,3,3,15,12);
}
//Calculate solar coordinates Reference RTKlab
/* sun and moon position -------------------------------------------------------
* get sun and moon position in ecef
* args : gtime_t tut I time in ut1
* double *erpv I erp value {xp,yp,ut1_utc,lod} (rad,rad,s,s/d)
* double *rsun IO sun position in ecef (m) (NULL: not output)